An integrated rectification mechanism and device for subway segment

Abstract

The invention relates to an integrated repair mechanism and device for subway pipe segments, comprising a front-end mechanical arm, a drilling mechanism and an end head are installed at the end of the front-end mechanical arm, the end head is provided with a plug disassembly and assembly mechanism through a first moving mechanism, the end head is provided with a grouting mechanism through a second moving mechanism, the plug disassembly and assembly mechanism comprises a hexagonal piece matched with the plug head, the hexagonal piece is connected with the hexagonal piece rotation driving mechanism, the grouting mechanism comprises a grouting head, the grouting head is connected with the grouting head rotation driving mechanism, the grouting end of the grouting head is connected with a grouting conduit, the grouting conduit is provided with a grouting pipe joint perpendicular to the grouting conduit, one end of the grouting conduit is connected with the grouting head, and the other end is provided with a switch valve, the end head is connected with the front-end mechanical arm through a first rotary mechanism to realize the switching of the centering and staggered states of the drilling mechanism and the grouting head, and the mechanism of the invention is adopted to improve the work efficiency and reduce the labor intensity.

Description

Technical Field

[0001] The present invention relates to the technical field of subway segment disease treatment, and particularly relates to an integrated rectification mechanism and device for subway segments. Background Technique

[0002] The statements here only provide the background technology related to the present invention, and do not necessarily constitute the prior art.

[0003] In recent years, with the booming development of urban shield tunnels, the problems of shield tunnel diseases have become increasingly serious. When most subways have been in actual operation for a certain period, different degrees of structural disease problems will appear in subway segments, such as cracks, offset, water leakage, etc., which have caused very serious impacts on the quality of engineering projects and the personal and property safety of residents. The rectification procedures for segment cracks and water leakage are numerous, the construction is complex, and the environment is dim. The traditional rectification methods mainly rely on manual rectification. During the rectification process of subway segment cracks and water leakage, for the rectification work of segments at a relatively high height, it is necessary for workers to climb to high places for treatment. The construction steps are complex, the rectification efficiency is low, the labor cost is high, the rectification equipment is heavy, the potential safety hazards are large, the degree of intelligence is low, and the rectification effect is not clear. Therefore, the traditional rectification methods for operating subway tunnels no longer meet the requirements for the long-term safe operation of current operating subways. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the purpose of the present invention is to provide an integrated rectification mechanism for subway segments, which can realize the integrated rectification of disassembly - drilling - injection of reserved holes for subway segment diseases, and reduce the labor intensity of workers.

[0005] To achieve the above purpose, the present invention is realized through the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides an integrated rectification mechanism for subway segments, including a front manipulator. A drilling mechanism and a head are installed at the end of the front manipulator. A plug disassembly and assembly mechanism is provided at the head through a first moving mechanism, and a grouting mechanism is provided at the head through a second moving mechanism. The plug disassembly and assembly mechanism includes an inner hexagonal part matching the plug, and the inner hexagonal part is connected to an inner hexagonal part rotation driving mechanism. The grouting mechanism includes a grouting head, and the grouting head is connected to a grouting head rotation driving mechanism. The slurry inlet end of the grouting head is connected to a grouting conduit. The grouting conduit is provided with a grouting pipe joint perpendicular to it. One end of the grouting conduit is connected to the grouting head, and the other end is provided with a switch valve. The head is connected to the front manipulator through a first slewing mechanism to realize the switching between the alignment and misalignment states of the drilling mechanism and the grouting head.

[0007] Optionally, the inner hexagon part rotation driving mechanism includes a rotating pipe, which is rotatably connected to the moving part of the first moving mechanism. An inner hexagon part is provided at the end of the rotating pipe, and the rotating pipe is connected to an inner hexagon part rotation driving member installed on the moving part of the first moving mechanism through a gear transmission mechanism.

[0008] Optionally, a suction cup is fixed to the front side of the inner hexagon part. The suction cup is connected to one end of a gas pipeline, and the other end of the gas pipeline passes through the rotating pipe and is connected to an air pump.

[0009] Optionally, the grouting head rotation driving mechanism includes a grouting head rotation driving member installed on the moving part of the second moving mechanism. The grouting head rotation driving member is connected to the grouting head through a gear transmission mechanism. The grouting head is connected to a grouting conduit through a rotary joint, and the rotary joint is fixed to the moving part of the second moving mechanism.

[0010] Optionally, the drilling mechanism includes a drill rod, which is connected to a drill rod rotation driving member. The drill rod rotation driving member is connected to a telescopic mechanism fixed to the end of the front robotic arm.

[0011] Optionally, the first slewing mechanism includes a slewing driving member fixed to the end of the front robotic arm. The slewing driving member is connected to a turntable through a gear transmission mechanism. The end of the head is fixedly connected to the turntable.

[0012] Optionally, the grouting head has an external thread structure, which matches the reserved hole.

[0013] Optionally, an image acquisition element is installed on the front robotic arm.

[0014] In a second aspect, an embodiment of the present invention provides a subway segment integrated renovation device, including a vehicle body. The vehicle body is connected to a main support arm through a second slewing mechanism. A swing frame is rotatably connected to the end of the main support arm. A swing driving mechanism is provided between the swing frame and the main support arm. The swing frame is provided with a third slewing mechanism, and the third slewing mechanism is connected to the subway segment integrated renovation mechanism described in the first aspect.

[0015] Optionally, an obstacle avoidance radar is installed at the front end of the vehicle body.

[0016] The beneficial effects of the present invention are as follows:

[0017] 1. The integrated subway segment rectification mechanism of the present invention is connected with a plug disassembly and assembly mechanism through a first moving mechanism. The plug disassembly and assembly mechanism has an internal hexagon part and a suction cup. The suction cup can fix or release the plug, and the internal hexagon part can rotate the plug, so as to realize the automatic disassembly and assembly of the plug. By setting a first slewing mechanism, the end can be rotated to align the drilling mechanism with the grouting port of the grouting mechanism. After opening the switching valve, the drilling mechanism can drill through the grouting port. At the same time, the grouting port can rotate under the action of a grouting port rotation driving part and perform grouting operations driven by a second moving mechanism, thus realizing the integrated automatic disassembly-drilling-grouting at the reserved hole, reducing the equipment replacement time, saving manpower, and improving work efficiency.

[0018] 2. The integrated subway segment rectification mechanism of the present invention has an external thread structure on the grouting head that matches the reserved hole. Before grouting, the threaded grouting head is screwed into the reserved hole of the segment and locked, which can offset the reaction force of the grout on the robotic arm during grouting, so as to keep the robotic arm stable and realize continuous and sufficient grouting of the segment.

[0019] 3. The integrated subway segment rectification mechanism of the present invention has an image acquisition element, which can assist workers in remotely controlling the robot for precise disassembly, drilling, and grouting operations, providing the possibility for remotely controlling the robot for disease rectification and realizing unmanned disease rectification.

[0020] 4. The integrated subway segment rectification mechanism of the present invention is provided with a suction cup. The suction cup is used to fix the plug. The removed reserved hole plug can be adsorbed on the suction cup, preventing the plug from falling and ensuring the safety of subway operation. Brief Description of the Drawings

[0021] The description drawings forming a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0022] Figure 1 is the overall structure schematic diagram of Embodiment 1 of the present invention;

[0023] Figure 2 is the partial enlargement at the end of Embodiment 1 of the present invention Figure 1 ;

[0024] Figure 3 is the partial enlargement at the end of Embodiment 1 of the present invention Figure 2 ;

[0025] Figure 4 is the overall structure schematic diagram of Embodiment 2 of the present invention;

[0026] Figure 5 is the front view of the overall structure of Embodiment 1 of the present invention;

[0027] Among them, 1. the first arm, 2. the second arm, 3. the camera, 4. the drill pipe, 5. the first slewing mechanism, 5-1. the gear transmission mechanism, 5-2. the turntable, 6. the end head, 7. the plug disassembly and assembly mechanism, 7-1. the rotating pipe, 7-2. the bearing seat, 7-3. the hexagon socket head, 7-4. the gear transmission mechanism, 7-5. the suction cup, 7-6. the air pipe, 8. the grouting mechanism, 8-1. the grouting head, 8-2. the gear transmission mechanism, 8-3. the grouting head rotation driving motor, 8-4. the grouting conduit, 8-5. the electric control ball valve, 8-6. the grouting pipe joint, 9. the vehicle body, 10. the obstacle avoidance radar, 11. the second slewing mechanism, 12. the main support arm, 13. the swing frame, 14. the electric telescopic rod, 15. the V-shaped rod, 16. the third slewing mechanism, 16-1. the slewing driving motor, 16-2. the gear transmission mechanism. Detailed implementation mode

[0028] For the convenience of description, if the words "upper" and "lower" appear in the present invention, they only represent the same as the upper and lower directions of the attached drawings themselves, and do not limit the structure. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation to the present invention.

[0029] Embodiment 1

[0030] This embodiment provides an integrated subway segment rectification mechanism, as Figures 1-3 shown, including a front mechanical arm, a drilling mechanism is installed at the end of the front mechanical arm, a first slewing mechanism is arranged below the drilling mechanism, an end head is installed on the first slewing mechanism, the first slewing mechanism can drive the end head to rotate around its own axis, the end head is provided with a first moving mechanism and a second moving mechanism, both the first moving mechanism and the second moving mechanism can output a movement along the axis direction of the end head, the moving part of the first moving mechanism is connected to the plug disassembly and assembly mechanism, and the moving part of the second moving mechanism is connected to the grouting mechanism, and can drive the plug disassembly and assembly mechanism and the grouting mechanism to make reciprocating linear movements.

[0031] The front mechanical arm adopts an existing telescopic mechanical arm, including a first arm 1 and a second arm 2 which are telescopically connected. An image acquisition element is installed on the first arm 1. The image acquisition element adopts a camera 3. The camera 3 is connected to the control system and can collect the image information of the segment, so as to help the construction personnel find the disease location.

[0032] By adopting this setting method, it is possible to assist workers to remotely control the robot for precise disassembly, drilling and grouting operations, providing the possibility for remotely controlling the robot for disease rectification, and realizing the unmanned operation of disease rectification.

[0033] One end of the second arm portion 2 is telescopically connected to the first arm portion 1, and the other end is installed with a terminal through a first rotating mechanism.

[0034] The drilling mechanism can adopt the existing drilling mechanism, including a drill rod 4, the drill rod 4 is connected to the drill rod rotation drive member, the drill rod rotation drive member can adopt a drill rod rotation drive motor, the drill rod rotation drive motor is connected to the telescopic mechanism located inside the second arm 2, the telescopic mechanism can drive the drill rod to move along its own axial direction, and the drill rod drive motor can drive the drill rod to rotate around its own axis, thereby realizing the drilling function.

[0035] The telescopic mechanism adopts an existing screw transmission mechanism or a gear rack transmission mechanism or a hydraulic telescopic mechanism or a pneumatic telescopic mechanism, etc., and those skilled in the art can set it according to actual needs. In this embodiment, the telescopic mechanism adopts a pneumatic telescopic mechanism, such as a cylinder, etc. The cylinder is connected to an air pump through an air pipe, and the air pump can supply air to the cylinder.

[0036] The first rotating mechanism 5 includes a first rotating driving component. In the present embodiment, the first rotating driving component adopts a first rotating motor, which is fixed at the end of the front end robotic arm. The output shaft of the first rotating motor is connected to the turntable 5-2 through a gear transmission mechanism 5-1. In the present embodiment, the turntable 5-2 is made of a cross-shaped steel plate, the turntable 5-2 is fixed to the rear end face of the end head 6, and the turntable 5-2 is coaxially arranged with the end head 6.

[0037] The end cap 6 is a rectangular parallelepiped structure surrounded by steel plates with a cavity inside. The end cap 6 has an upper surface, a lower surface and two side surfaces, wherein the plug disassembly mechanism 7 is arranged on the upper surface, and the grouting mechanism 8 is arranged on a side surface of the end cap 6.

[0038] The first rotary mechanism 5 drives the end head to rotate around its own axis, so that the drilling rod 4 and the grouting head of the grouting mechanism 8 can be switched between the centering state and the staggered state.

[0039] The first moving mechanism is installed in the internal cavity of the end head 6. The first moving mechanism adopts an existing screw transmission mechanism or a gear rack transmission mechanism or a cylinder, etc. The technicians in this field can set it according to actual needs. In this embodiment, the first moving mechanism adopts a cylinder, and the cylinder body of the cylinder is fixed to the rear part of the internal cavity of the end head 6. The piston rod of the cylinder, that is, the moving part, is fixedly connected to the first moving plate. The first moving plate is slidably connected to the guide rail 9 on the upper surface of the end head, and a plug disassembly mechanism 7 is fixed on the first moving plate.

[0040] The plug disassembly and assembly mechanism 7 includes a rotating pipe 7-1 which is rotatably connected to a bearing block 7-2. The bearing block 7-2 is fixed to the first moving plate by bolts. The front end of the rotating pipe 7-1 is provided with an internal hexagonal part matching the plug. The internal hexagonal part adopts an internal hexagonal end head 7-3 with a hexagonal shape. The internal hexagonal end head 7-3 is fixed to the front end of the rotating pipe 7-1. The rotating pipe 7-1 is connected to an internal hexagonal part rotation driving mechanism arranged inside the front end of the end head 6. The internal hexagonal part rotation driving mechanism can drive the rotating pipe 7-1 to rotate around its own axis, thereby driving the internal hexagonal end head 7-3 to rotate around its own axis. When the internal hexagonal end head 7-3 cooperates with the plug, its rotation can drive the plug to rotate, so as to realize the disassembly or installation of the plug.

[0041] The internal hexagonal rotation driving mechanism includes an internal hexagonal rotation driving part which adopts an internal hexagonal rotation driving motor fixed to the front end of the internal cavity of the end head. The internal hexagonal rotation driving motor is connected to the rotating pipe 7-1 through a gear transmission mechanism 7-4 and can drive the rotating pipe 7-1 to rotate around its own axis, thereby driving the internal hexagonal end head 7-3 to rotate.

[0042] A suction cup 7-5 is fixedly arranged on the front side of the internal hexagonal end head 7-3. One end of the suction cup 7-5 is connected to one end of an air pipe 7-6 through a rotary joint. The other end of the air pipe 7-6 is connected to an air pump. The air pump can inflate the suction cup 7-5, so as to realize the switching between the adsorption and fixation state and the loosening state of the suction cup and the plug. In this embodiment, a groove is provided at the front end of the internal hexagonal end head, and the suction cup is embedded into the groove of the internal hexagonal end head, and then bonded and fixed with adhesive. After embedding, the suction cup is flush with the periphery of the groove of the internal hexagonal end head.

[0043] By arranging the suction cup 7-5, the plug can be fixed after being removed from the reserved hole, preventing the plug from falling and ensuring the safety of subway operation.

[0044] In this embodiment, the first moving mechanism can drive the internal hexagonal end head 7-3 to move linearly. Then the internal hexagonal end head 7-3 is inserted into the internal hexagonal hole of the plug. The internal hexagonal rotation driving motor drives the internal hexagonal end head 7-3 to rotate through the gear transmission mechanism 7-4, so as to realize the disassembly or installation of the plug.

[0045] The structure of the second moving mechanism is completely the same as that of the first moving mechanism and will not be repeated here. The moving part of the second moving mechanism is connected to the second moving plate. The second moving plate is slidably connected to the end head 6, and a grouting mechanism 8 is installed on the second moving plate.

[0046] In this embodiment, the grouting mechanism 8 includes a grouting head 8-1. The grouting head 8-1 adopts a cylindrical tubular structure, and its outer surface is provided with an external thread structure. Before grouting, the grouting head 8-1 is screwed into the reserved hole of the segment through the external thread structure and locked, which can offset the reaction force generated by the grout on the front mechanical arm during grouting, so as to keep the front mechanical arm stable and realize continuous and sufficient grouting of the segment.

[0047] In this embodiment, the grouting head 8-1 is connected to a grouting head rotation driving mechanism, and the grouting head rotation driving mechanism can drive the grouting head to rotate around its own axis.

[0048] The grouting head rotation driving mechanism includes a grouting head rotation driving member fixed on the second moving plate. In this embodiment, the grouting head rotation driving member adopts a grouting head rotation driving motor 8-3. The output shaft of the grouting head rotation driving motor is connected to the grouting head 8-1 through a gear transmission mechanism 8-2, which can drive the grouting head 8-1 to rotate, thus realizing the threaded connection between the grouting head 8-1 and the reserved hole.

[0049] One end of the grouting head 8-1 is used for threaded connection with the reserved hole, and the other end is connected to one end of a grouting conduit 8-4 through a rotary joint. A switching valve is provided at the other end of the grouting conduit 8-4.

[0050] In this embodiment, the switching valve adopts an electric control ball valve 8-5. The electric control ball valve 8-5 is connected to the control system and can be automatically opened or closed under the command of the control system.

[0051] A grouting pipe joint 8-6 is provided at a non-end position of the grouting conduit 8-4. The grouting pipe joint 8-6 is used for connecting with a grouting pipe, and the axis of the grouting pipe joint 8-6 is perpendicular to the axis of the grouting conduit.

[0052] In this embodiment, all components such as motors, air pumps, and front mechanical arms are connected to the control system and can work under the command of the control system.

[0053] The working method of the integrated rectification mechanism in this embodiment is as follows:

[0054] The front mechanical arm performs telescopic movement and position adjustment, so that the inner hexagonal end 7-3 moves to a set position in front of the plug. The first moving mechanism works, so that the inner hexagonal end is inserted into the inner hexagonal hole of the plug at the reserved hole, and the plug is adsorbed and fixed by the suction cup 7-5.

[0055] The control system controls the inner hexagonal part rotation driving motor to work. While driving the plug and the suction cup to rotate, the first moving mechanism makes a reset movement, so as to remove the plug from the reserved hole. The suction cup 7-5 adsorbs and fixes the plug, so that the plug will not fall off.

[0056] After the plug is removed, the first slewing mechanism drives the end 6 to rotate, aligning the drill pipe 4 of the drilling mechanism with the grouting head 8-1, and adjusting the position of the end 6 so that the grouting head 8-1 is aligned with the reserved hole.

[0057] The second moving mechanism drives the grouting head 8-1 to move towards the grouting hole, and drives the grouting head to rotate through the grouting head rotation drive motor, screwing the grouting head into the reserved hole.

[0058] The control system controls the electric control ball valve 8-5 to open, and the air pump drives the telescopic mechanism to act, so that the drill pipe 4 extends forward, passes through the electric control ball valve 8-5, the grouting conduit 8-4, and the grouting head 8-1 in sequence and then drills a hole to form a grouting hole. The drill pipe rotation drive motor drives the drill pipe to rotate to realize the drilling of the drill pipe 4, and further realizes the drilling function. In this embodiment, the reserved hole is a part of the grouting hole. The grouting operation carried out for diseases such as leakage and void of subway segments is the post-grouting behind the subway segments, and the reserved hole of the subway segment does not completely penetrate the subway segment. If post-grouting behind the segment is required, the drill pipe 4 needs to be used to punch through the unpenetrated part of the reserved hole to form a grouting hole. After drilling, the drill pipe 4 is retracted, the electric control ball valve 8-5 is closed, the grouting pipe joint 8-6 is connected to the grouting pump through the grouting pipe, and the grouting pump is turned on to start grouting until the grouting is completed.

[0059] In this embodiment, the disassembly-drilling-grouting integration at the reserved hole is carried out automatically, reducing the equipment replacement time, saving manpower, and improving work efficiency.

[0060] Embodiment 2

[0061] This embodiment provides an integrated rectification device for subway segments, as Figures 4-5 shown, including a vehicle body 9. The vehicle body 9 can adopt the existing vehicle body structure and has traveling wheels to enable traveling. An obstacle avoidance radar 10 is installed at the front end of the vehicle body 9. The obstacle avoidance radar 10 is connected to the control system and can transmit the information of obstacles in front of the vehicle body to the control system to avoid collisions between the vehicle body 9 and obstacles during traveling.

[0062] A second slewing mechanism 11 is provided at the rear of the vehicle body 9. The second slewing structure 11 can adopt the existing slewing platform, and its specific structure will not be described in detail here. The slewing platform can output a motion of rotating around the vertical axis.

[0063] The slewing part of the second slewing mechanism 11 is fixed to the bottom end of the main support arm 12, and the top end of the main support arm 12 is rotatably connected to one end of the swing frame 13.

[0064] A swing drive mechanism is arranged between the swing frame 13 and the main support arm 12, and the swing drive mechanism can drive the swing frame to swing.

[0065] The swing driving mechanism includes a linear telescopic member. The linear telescopic member adopts an existing electric telescopic rod 14. One end of the electric telescopic rod 14 is rotatably connected to the bottom end of the main support arm 12, and the other end is hinged to the corner part of the V-shaped rod 15. One end of the V-shaped rod 15 is hinged to the top end of the main support arm, and the other end is hinged to the other end of the swing frame 13. The telescopic movement of the electric telescopic rod 14 can realize the swing movement of the swing frame.

[0066] A third slewing mechanism 16 is installed on the swing frame 13. The third slewing mechanism includes a slewing drive motor 16-1. The slewing drive motor is fixed on the swing frame 13. The slewing drive motor is connected to the slewing platform through a gear transmission mechanism 16-2. The slewing platform is connected to the first arm part 1 of the front mechanical arm.

[0067] By using the rectification device of this embodiment, the segments within a set height range can be integrally rectified. For segments with a lower height, in order to improve work efficiency, manual rectification can be adopted.

[0068] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, various modifications and changes can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. An integrated rectification mechanism for subway segment, characterized in that, It includes a front robotic arm. A drilling mechanism and a head are installed at the end of the front robotic arm. A plug disassembly and assembly mechanism is provided on the head through a first moving mechanism, and a grouting mechanism is provided on the head through a second moving mechanism. The plug disassembly and assembly mechanism includes an internal hexagonal part that matches the plug. The internal hexagonal part is connected to an internal hexagonal part rotation driving mechanism. The grouting mechanism includes a grouting head. The grouting head is connected to a grouting head rotation driving mechanism. The slurry inlet end of the grouting head is connected to a grouting conduit. The grouting conduit is provided with a grouting pipe joint perpendicular to it. One end of the grouting conduit is connected to the grouting head, and the other end is provided with a switch valve. The head is connected to the front robotic arm through a first slewing mechanism to realize the switching between the alignment and misalignment states of the drilling mechanism and the grouting head; The alignment means that when the drill rod of the drilling mechanism extends forward, the drill rod of the drilling mechanism can sequentially pass through the switch valve, the grouting conduit, and the grouting head and then drill.

2. The integrated rectification mechanism for subway segments according to claim 1, characterized in that, The internal hexagonal part rotation driving mechanism includes a rotating pipe. The rotating pipe is rotatably connected to the moving part of the first moving mechanism. An internal hexagonal part is provided at the end of the rotating pipe. The rotating pipe is connected to an internal hexagonal part rotation driving part installed on the moving part of the first moving mechanism through a gear transmission mechanism.

3. The integrated rectification mechanism for subway segments according to claim 1, characterized in that, A suction cup is provided on the front side of the internal hexagonal part. The suction cup is connected to one end of a gas pipeline. The other end of the gas pipeline passes through the rotating pipe and is connected to an air pump.

4. The integrated rectification mechanism for subway segment as claimed in claim 1, wherein, The grouting head rotation driving mechanism includes a grouting head rotation driving part installed on the moving part of the second moving mechanism. The grouting head rotation driving part is connected to the grouting head through a gear transmission mechanism. The grouting head is connected to the grouting conduit through a rotary joint. The rotary joint is fixed to the moving part of the second moving mechanism.

5. The integrated rectification mechanism for subway segments according to claim 1, characterized in that, The drilling mechanism includes a drill rod. The drill rod is connected to a drill rod rotation driving part. The drill rod rotation driving part is connected to a telescopic mechanism fixed at the end of the front robotic arm.

6. The integrated rectification mechanism for subway segments according to claim 1, characterized in that, The first slewing mechanism includes a slewing driving part fixed at the end of the front robotic arm. The slewing driving part is connected to a turntable through a gear transmission mechanism. The end of the head is fixedly connected to the turntable.

7. The integrated rectification mechanism for subway segment as claimed in claim 1, wherein The grouting head has an external thread structure that matches the reserved hole.

8. The integrated rectification mechanism for subway segments according to claim 1, wherein An image acquisition element is installed on the front robotic arm.

9. An integrated rectification device for subway segment, characterized in that, It includes a vehicle body. The vehicle body is connected to the main support arm through a second slewing mechanism. A swing frame is rotatably connected to the end of the main support arm. A swing driving mechanism is provided between the swing frame and the main support arm. The swing frame is provided with a third slewing mechanism. The third slewing mechanism is connected to the subway segment integrated renovation mechanism according to any one of claims 1-8.

10. The integrated rectification device for subway segment as described in claim 9, characterized in that, An obstacle avoidance radar is installed at the front end of the vehicle body.

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